#!/bin/sh
#
# @name Generic AAVVT v-tail plane airframe with Quad VTOL.
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Sander Smeets <sander@droneslab.com>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.vtol_defaults

if [ $AUTOCNF = yes ]
then
	param set MC_ROLL_P 7
	param set MC_ROLLRATE_P 0.15
	param set MC_ROLLRATE_I 0.002
	param set MC_ROLLRATE_D 0.003
	param set MC_ROLLRATE_FF 0
	param set MC_PITCH_P 7
	param set MC_PITCHRATE_P 0.12
	param set MC_PITCHRATE_I 0.002
	param set MC_PITCHRATE_D 0.003
	param set MC_PITCHRATE_FF 0
	param set MC_YAW_P 2.8
	param set MC_YAWRATE_P 0.22
	param set MC_YAWRATE_I 0.02
	param set MC_YAWRATE_D 0
	param set MC_YAWRATE_FF 0
	param set MC_YAWRATE_MAX 40

	param set MPC_YAWRAUTO_MAX 40

	param set PWM_AUX_DIS5 950
	param set PWM_RATE 400

	param set VT_F_TRANS_THR 0.75
	param set VT_MOT_ID 1234
	param set VT_FW_MOT_OFFID 1234
	param set VT_IDLE_PWM_MC 1080
	param set VT_TYPE 2
fi

set MAV_TYPE 22

set MIXER quad_x
set MIXER_AUX vtol_AAVVT

set PWM_OUT 1234
